Type synthesis of 2R2T parallel mechanisms based on motion equivalent chain method

Wei, Ye; Fang, Yuefa; Guo, Sheng; Qu, Haibo

doi:10.1177/0954406214527271

Cited by 12 publications

(6 citation statements)

References 24 publications

(30 reference statements)

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“…It should be noted that the motion equivalent chain method [79] is actually a modified version of the virtual chain method. The only difference is that the former uses some single-loop chains to construct closed-loop chains, which results in PMs with closed-loop subchains.…”

Section: Virtual Chain Methodsmentioning

confidence: 99%

Type Synthesis of Lower Mobility Parallel Mechanisms: A Review

2019

Chin. J. Mech. Eng.

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Type synthesis of mechanisms aims to systematically determine all possible structures for a specific mobility requirement. Numerous methods based on different theories were proposed for type synthesis of lower mobility parallel mechanisms in past decades. However, there does not exist a comprehensive review on these approaches. Therefore, the goal of this paper is to give such a review, classifying the approaches proposed in the literature into three groups, namely, motion-based methods, constraint-based methods, and other methods. The motion-based methods include the Lie group based method, the G F set method, the linear transformation method, the POC set method, and the finite screw method. The constraint-based methods involve the screw theory-based method, the virtual chain method, the method based on Grassmann line geometry and line graphs, and the motion constraint generator method. Other methods contain the enumeration approach based on the general CGK mobility formula and the graph theory method. Upon thoroughly analyzing the characteristics and/or limitations of each method, this review provides a well reference to help researchers find an effective synthesis method for innovative design and further scientific investigations for mechanisms.

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Section: Virtual Chain Methodsmentioning

confidence: 99%

Type Synthesis of Lower Mobility Parallel Mechanisms: A Review

2019

Chin. J. Mech. Eng.

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“…15 The other is to realize the reconfiguration of the parallel mechanism by using the singular characteristics of the single-ring or multi-ring closed chain in the reconfigurable hybrid limb. For example, Ye introduced the constraint singular characteristics between the parallel mechanism limbs into the limb, 16–18 constructed the hybrid limb 19 by using the series limb and the reconfigurable closed chain with the constraint singular characteristics, and proposed a new method for the structural design of the reconfigurable parallel mechanism. Reconfigurable hybrid mechanism is essentially a combination of reconfigurable mechanism and traditional mechanism without reconfiguration.…”

Section: Introductionmentioning

confidence: 99%

A novel reconfigurable parallel mechanism constructed with spatial metamorphic four-link mechanism

Jia

Zhang

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this paper, a spatial metamorphic four-link mechanism (SMM) based on the metamorphic universal joint is proposed. By adjusting the axis position of the universal joint, three kinds of SMMs are constructed. Each kind of SMM has different bifurcation and metamorphic characteristics. Starting from the motion characteristics of each phase of SMM based on the screw theory, a reconfigurable hybrid limb is constructed by combining it with the series branch which can provide a constraint force and a constraint couple. The constraint changes of metamorphic hybrid limbs corresponding to different phases of SMM are analyzed. This leads to the design of a new type of reconfigurable parallel mechanism (RPM), in which the platform is connected to the base by three reconfigurable hybrid limbs. The results show that the performance of the RPM can be changed from 6 degrees of freedom (DOFs) to 5, 4, and 3 DOFs.

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“…Where F signifies that the limb can provide a constraint force, C denotes that the limb can provide a constraint couple. Ye et al 40 investigated the serial kinematic chains which simultaneously provide one constraint couple and one constraint force, and some new reconfigurable mechanisms are synthesized.…”

Section: Introductionmentioning

confidence: 99%

“…Ye et al. 40 investigated the serial kinematic chains which simultaneously provide one constraint couple and one constraint force, and some new reconfigurable mechanisms are synthesized.…”

Section: Introductionmentioning

confidence: 99%

Structure synthesis of reconfigurable parallel mechanisms with closed-loop metamorphic linkages

Tian

Fang

Guo

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper proposes a class of closed-loop metamorphic linkages, which has different phases resulting from links annexing or locking of motors. Reconfigurable limbs are obtained by assembling these metamorphic linkages with kinematic chains. The potential metamorphic linkages are presented and the working phase transformation of the metamorphic linkages is analyzed. After adding suitable kinematic joints to the metamorphic linkage, the reconfigurable limbs whose constraint can be switched among different constraint forces and couples are synthesized. The serial limbs that can provide u ( u = 0, 1, 2) constraint forces and v ( v = 0, 1, 2) constraint couples are constructed by using screw theory method. The reconfigurable limbs which possess different configurations are combined with serial kinematic chains. By connecting the end moving platform to the fixed base with three identical kinematic limbs, a family of reconfigurable mechanisms with closed-loop metamorphic linkages is derived. These mechanisms have various output motion modes, such as 3R, 1T2R, 2T1R, and 3T.

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Type synthesis of 2R2T parallel mechanisms based on motion equivalent chain method

Cited by 12 publications

References 24 publications

Type Synthesis of Lower Mobility Parallel Mechanisms: A Review

Type Synthesis of Lower Mobility Parallel Mechanisms: A Review

A novel reconfigurable parallel mechanism constructed with spatial metamorphic four-link mechanism

Structure synthesis of reconfigurable parallel mechanisms with closed-loop metamorphic linkages

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